CN2773130Y - System for inspecting load out off balance of washer - Google Patents

Abstract

The utility model relates to a washing machine system which includes the method of ascertaining load unbalance. The washing machine system comprises a box body, a motor, memorizer equipment and a memorizer, wherein the box body is provided with a rotary drum which can be rotatablely arranged in the box body, the motor is connected with the rotary drum and used for rotating the rotary drum in the box body, the memorizer equipment can be accessed by a processor, such as a digital signal processor (DSP), and the memorizer contains a program code used for executing a method; the method includes the determination of the fluctuation of motor torque, the determination of motor speed and the determination of load unbalance quality on the basis of the motor torque and the motor speed.

Description

Detect the system of washing machine laod unbalance

The cross reference of related application

The application requires the rights and interests of the U.S. Provisional Application 60/466,106 of submission on April 28th, 2003, and it is incorporated herein by reference.

Technical field

The utility model relates to washing machine, relates in particular to the system of unbalance mass, in a kind of detection and the quantitative washing machine rotating cylinder.

Background technology

Family expenses and business washing machine are known.The columnar substantially rotating cylinder or the basket that are used for holding the clothing washed and other article are rotatably mounted in casing.Typically, the described rotating cylinder of Motor Drive.In wash cycle, water and washing agent or soap stressed by clothing to wash them.Washing agent goes out from the clothing rinsing, then in the one or many spin cycle, by rotation rotating cylinder, discharge water from clothing.

A kind of sorting technique of washing machine is the direction according to the washing machine rotating cylinder.The vertical axis washing machine has and is set to the rotating cylinder that rotates around vertical axis.The substrate product are by the cover that is usually located at the washing machine top rotating cylinder of packing into.The rotating cylinder of vertical axis washing machine comprises the agitator that is positioned at wherein, and it cleans them under water by clothing is pushed away and draws in.Typically, motor also drives agitator except the rotating cylinder of rotation perpendicular positioning during spin cycle.Motor is usually with constant speed work, and disposed a series of gear and driving belt and be used for driving suitable member in due course in each washing machine cycle period.

Have the horizontal axis washing machine that is set to around the rotating cylinder of basic horizontal axis rotation, do not comprise agitator, and variable speed electric motors, particularly drives this rotating cylinder.During wash cycle, the rotating cylinder of horizontal axis washing machine is with low relatively speed rotation.The rotary speed of rotating cylinder is such, promptly utilizes the dividing plate that distributes around rotating cylinder, and clothing is upwards left the water, and makes it in the backwater along with rotating cylinder rotates then.

Washing machine vertical and horizontal axis all passes through the discharge water from clothing of rotation rotating cylinder, and thus, centrifugal force is discharged water from clothing.Be at a high speed to rotate rotating cylinder and in the possible shortest time, from clothing, to discharge the water of maximum ideally.The drying time is minimized, but needs bigger power with higher speed rotation.Clothing is centered around the ability of distribution influence washing machine to rotate rotating cylinder at a high speed at rotating cylinder edge.

If the clothing in the rotating cylinder is not to distribute equably, rotating cylinder can and have in the casing violent rotating cylinder and rotate quiveringly with gratifying rotary speed.Many factors cause rotating cylinder laod unbalance problem.For example, for the vertical axis washing machine, when washing or rinse cycle is finished and water when rotating cylinder is discharged, clothing concentrates on rotating cylinder bottom and uneven distribution in whole tube.And rotating cylinder typically is not perfect cylindrical, but comprises gradient.When rotating cylinder rotated, clothing will " be climbed " sidewall of rotating cylinder.Yet because constant speed motor typically drives vertically disposed rotating cylinder, motor makes rotating cylinder rise to drying speed at full speed apace.Because clothing almost has no chance to scatter around the rotating cylinder edge, so climb up the rotating cylinder sidewall in unbalanced mode.

Unbalanced rotation rotating cylinder is in the casing internal vibration.In traditional vertical axis washing machine, if vibration is too violent, rotating cylinder will make the switch that is installed on box house disconnect, and stop the rotating cylinder rotation and activate the uneven alarm of rotating cylinder.Then, the user is artificial in rotating cylinder to disperse wet clothing again, and restarts spin cycle.

As mentioned above, the rotating cylinder in the horizontal axis washer is driven by variable speed driver, and this allows to comprise one " dispersion " circulation, and wherein rotating cylinder is to be higher than the speed rotation that wash cycle is lower than spin cycle.The rotating cylinder rotary speed improves up to clothing gradually because the centrifugal force rotating cylinder sidewall that begins to recline.Lower rotary speed allows clothing more to be uniformly distributed in the rotating cylinder sidewall.In case clothing intersperses among rotating cylinder, described speed is increased to full speed drying speed with discharge water from clothing.

Yet the horizontal axis washing machine can not be avoided the rotating cylinder imbalance problem.If clothing is disperseing cycle period to disperse equably, the unbalanced load in the rotating cylinder will cause the vibration do not expected when rotating cylinder rotates.

Power dissipation rather than is used to make rotating cylinder to rotate with possible maximum speed all motor powers in rotating cylinder motion and casing vibration.When minimizing the vibration that is caused by centrifugal out-of-balance force, the detection of laod unbalance amount allows drying speed optimization so that washing efficiently to be provided.In the very high situation of detected amount of unbalance, the washing machine that makes able to programme stops its spin cycle, rocks rotating cylinder and restarts spin cycle then with the redistribution washings.

Thus, be in rotating rotating cylinder, to detect the existence of unbalance condition and quantity with the optimization rotary speed and/or take to revise operation when needed ideally.Yet, be used to detect method very unsatisfactory of the prior art of unbalance condition.These and other deficiency that processing of the present invention is relevant with prior art.

Summary of the invention

According to an aspect of the present utility model, washing machine comprises having the rotatable casing that is installed on the rotating cylinder in it.Motor is connected with rotating cylinder with the tube of walking around in the casing inward turning.Storage arrangement can be by the processor access of for example digital signal processor (DSP).Storage arrangement and processor can be separately equipment or alternatively storage arrangement can be embedded with processor himself, identical with the situation that is embedded with microcontroller.Memory comprises the program code that is used to carry out a kind of method, and this method comprises determines the Motor torque fluctuation, determines motor speed and determines the laod unbalance quality according to Motor torque and speed.

Can determine the Motor torque fluctuation by measuring electric moter voltage and electric current.In the exemplary embodiment, generate the Mathematical Modeling of washing machine rotating cylinder load, it describes the relation between Motor torque and the unbalance mass.Model coefficient utilizes a kind of parameter estimation device to determine, for example recursive least-squares is estimated device, and can obtain unbalance mass, from these coefficients.

The acceleration of rotating cylinder and angular coordinate can be calculated according to rotor speed, and vice versa.According to others of the present utility model, operating electrical machines drives rotating cylinder at a predetermined velocity, the motion minimum of rotating cylinder on its suspension when this speed.This permission system uses the fixed axis model.

Description of drawings

According to following detailed description and with reference to the accompanying drawings, other target of the present utility model and advantage will become apparent, in the accompanying drawings:

Fig. 1 is the washing machine block diagram according to the utility model each side;

Fig. 2 is the perspective view of exemplary horizontal axis washing machine;

Fig. 3 is the block diagram of the speed Control Circulation of illustrated example.

Fig. 4 is the flow chart of general introduction according to unbalance mass, detection method of the present utility model;

Fig. 5 has illustrated that the clothing in the washing machine rotating cylinder distributes;

Fig. 6 has illustrated and has comprised in the washing machine rotating cylinder that the concentrated unbalanced clothing of point type distributes;

Fig. 7 has illustrated that conceptually the point type in the washing machine rotating cylinder is concentrated uneven;

Fig. 8 be explanation washing machine rotor speed over time with the curve of unbalance mass, with respect to the position at rotating cylinder center;

Fig. 9 is the side view of rotating cylinder with respect to the washing machine of horizontal direction inclination;

Figure 10 has illustrated washing machine and the concentrated non-equilibrium site of point type among the Fig. 7 that considers the drum inclination influence;

Figure 11 has conceptually illustrated driving belt and the pulley transmission system that is used to drive the washing machine rotating cylinder;

Figure 12 has illustrated by the washing machine rotating cylinder according to aspects more of the present utility model and has accelerated to moment of torsion and the speed curve diagram that the second speed that is used to detect rotating cylinder inertia produces from first speed.

Figure 13 has illustrated by the washing machine rotating cylinder according to others of the present utility model and has accelerated to the torque curve figure that the second speed that is used to detect rotating cylinder inertia produces from first speed.

Figure 14 has conceptually illustrated the washing machine rotating cylinder that comprises clothing and unbalance mass.

Yet the present invention has been easy to multiple change and replacement form, and wherein specific embodiment is as example Show and be elaborated in the accompanying drawings and at this. But, be to be understood that herein to specific embodiment Explanation do not mean that the utility model be limited to disclosed special shape, and opposite, its purpose To cover to fall into all the interior distortion of the utility model spirit and scope that are defined by the following claims, Equivalent and alternative form.

The specific embodiment

Below set forth the indicative embodiment of the utility model.For clearer, the feature that is not all actual embodiment all is described in this manual.Certainly can understand, in the research and development of any such practical embodiments, must select many specified scheme to realize developer's specific purpose, for example meet the constraint of related system and relevant industries, such scheme can transform to another kind from a kind of embodiment.And the development efforts that is appreciated that even now may be complicated and consuming time, but for those those of ordinary skill that obtains the described field of the utility model help, this remains normal work to do.

Fig. 1 is the block diagram that illustrates according to the washing machine 100 of the embodiment of the invention.Washing machine 100 comprises a casing 102, wherein rotatable installation rotating cylinder 104.In an embodiment of the present utility model, washing machine 100 is washing machines of a trunnion axis.In other words, rotating cylinder 104 is arranged in the casing 102 around a substantially horizontal axis rotation.Fig. 2 has illustrated the horizontal axis washing machine 101 according to the utility model specific embodiment.

Return with reference to Fig. 1, motor 106 perhaps directly is attached thereto, to drive rotating cylinder 104 by the transmission system 105 that is driven by driving belt, the clutch rotating cylinder 104 that is operably connected.Motor 106 comprises stator 106a and is set to the rotor 106b that relative stator 106a rotates.Can use any suitable motor type, comprise induction machine, brushless magneto (BPM), switching magnetic-resistance (SR) motor etc.In specific exemplary embodiment, used the controlled induction machine of three-phase (CIM).The operation for the treatment of apparatus 112 control motors 106, storage device 108 can be by processor 112 visits.Processor 112 can comprise, any suitable type of digital processing unit for example, digital signal processor (DSP), microcontroller or microprocessor.

Memory 108 storages are carried out the programmed instruction that is used to control washing machine 100 operations by processor 112.In addition, the speed of processor 112 programming Control motors 106 and rotating cylinder 104.Fig. 3 illustrates typical rate control loop 200.The signal 204 of speed command signal 202 and expression motor actual speed puts on speed control 210, as ratio/integration (PI) controller.Speed control 210 relatively speed command signal 202 and actual speed signal 204 and responds the control signal 212 that its output changes the power that is applied to motor with the computational speed error, with the speed that obtains to wish.

The speed/positional of rotor 106b detect and control can, for example according to carrying out from the feedback of speed counter on the motor shaft.In embodying the present invention's other washing machine aspect some, the location/velocity of rotor 106b is calculated or is estimated from the monitoring parameter of for example electric moter voltage of motor 106 and electric current.These systems are commonly called " no sensor " system, because they do not use the physical sensors that is used for detection position and/or speed.In this no sensing system, processor 112 receives the signal of current of electric and voltage, and the algorithm that is stored in the memory 108 is determined the location/velocity of rotor 106b according to them.

Described in above-mentioned background technology part, washing machine typically comprises a plurality of operation cycle.Washing machine, especially the washing machine of horizontal axis comprises one or more wash cycle, disperses circulation and spin cycle.The imbalance of rotating cylinder seldom is the significant problem in the wash cycle, and wash cycle adopts the rotating cylinder rotating speed of about 50rpm that clothing is rolled to enter or leaving water in the horizontal axis washing machine.Disperse the circulation typical operation in the rotating cylinder rotary speed (clothing will begin the sidewall of " reclining " or " clinging " rotating cylinder 104 under the centrifugal force of a G) of about 55-110rpm.

As a comparison, the minimum rotary speed that it has been generally acknowledged that " spin cycle " speed is about 250rpm.For example, can regard the rotating cylinder rotary speed of about 350-450 as " low " drying speed, the rotating cylinder rotary speed of about 650-850 is regarded as " medium " drying speed, and the rotating cylinder rotary speed of about 1000rpm is regarded as " height " drying speed.As mentioned above, be to rotate rotating cylinder 104 at a high speed ideally so that in the shortest possible time, from clothing, discharge the water of maximum.

When minimizing the vibration that is produced by centrifugal out-of-balance force, the detection of laod unbalance amount allows optimization to dry speed so that effective washing to be provided.Correspondingly, memory 108 is included in the program code of realizing determining unbalance mass, method in the rotation rotating cylinder 104 when being executed in processor.

Fig. 4 has summarized the illustrative methods that is used for determining unbalance mass.Based on Motor torque and velocity perturbation determined to measure unbalance mass.The measurement of amount of unbalance is determined by using a parameter estimation device, for example is used for recursive least-squares (RLS) the parameter estimation device of calculated torque undulate quantity.Relation between torque ripple and the unbalance mass, is learnt by making up a rotating cylinder load module.In certain embodiments, use electric machine without sensor, wherein measure and calculate motor speed and Motor torque from the terminal of electric moter voltage and electric current.Alternately, can use the Other Instruments finding speed, for example tachometer.

In the module 250 of Fig. 4, the synthetic inertia of estimation rotating cylinder and washings.Below further specify the inertia estimation scheme.In case estimate synthetic inertia, the order motor takes place and rotating cylinder has the stabilized speed running of minimum movement value on its suspension to be configured such that to recline.Shown in module 252, then read Motor torque and speed variable.For example other system variable of acceleration and position can be determined from motor speed.In addition, all motor variablees can utilize the transmission system model related with rotating cylinder.

In module 254, from whole moments of torsion, deduct the inertia moment of torsion that causes by any velocity perturbation, it guarantees that remaining torque ripple is fully from the effect of gravity to unbalance mass.The inertia that calculates from speed and module 250 calculates the inertia torque ripple.

Then, the input of rotating cylinder position and compensation torque is provided the parameter estimation device of the torque ripple estimator in the module 256.Module 252,254 and 256 repeats at several sample points, focuses on a stationary value up to the torque ripple estimator, typically in five rotating cylinder circulations.In module 256, determine unbalance mass, according to torque ripple.Below further describe the method for summarizing among Fig. 4.

Disperse in the circulation at washing machine, clothing with at random and unpredictable substantially mode abut in around the edge of rotating cylinder 104.The distribution of clothing 110 is always uneven, as shown in Figure 5.Yet be equivalent to have the effect that single-point type is concentrated unbalanced even distribution wash load in the effect reality of the wash load of uneven distribution in system.Therefore, for the purposes of the present invention, wash load 110 is envisioned for has the even distribution that single-point type is concentrated imbalance 112, as shown in Figure 6.

According to certain aspects of the invention, made up the Mathematical Modeling of washing machine.Thus, in order to detect the rotating cylinder imbalance, must define the system variable that influenced by the rotating cylinder imbalance.As mentioned above, these variablees comprise rotating cylinder/Motor torque and rotating cylinder/motor angular velocity.When existing when uneven, rotating cylinder/Motor torque and angular speed have the composition of rotating cylinder frequency varying cyclically (composition that also has some higher frequencies, but these are the result of second-order effects substantially).The amplitude of this circulation change composition or fluctuation have provided a kind of tolerance of the amount of unbalance that exists.Using these variablees to detect unbalanced attendant advantages is that they can be controlled with no sensor and estimate, saves the needs that use measuring instrument thus.

Therefore, the dynamic model of the washing machine rotating cylinder system of acquisition comprises for example variable of moment of torsion and speed and acceleration and rotating cylinder position, and acceleration and position can determine that vice versa from speed.Variation coefficient in the dynamic model is made up of various systematic parameters, unbalance mass, for example, rotating cylinder inertia and coefficient of friction.

The variable of supposing dynamic model can obtain by sensorless technology, perhaps even by instrument on the machine obtain, but operation parameter estimation device is determined the systematic parameter of the coefficient of parameter and desired thus for example unbalance mass.The suitable parameters estimation device that is used for this purpose is recursive least-squares (RLS) estimation device.

There is a certain amount of intrinsic imbalance in the idle running tube 104, so be equal to the synthetic imbalance that point type mass concentration imbalance 112 is sky drum 104 and clothing 110.The imbalance of attempting rotating cylinder uneven 112 and clothing 110 separately is unhelpful, because these imbalances one work, it finally causes tangible vibration of washing machine.

The example process that makes up rotating cylinder 104 dynamic models according to the embodiment of the invention deeply is described in detail in detail herein.The first step that makes up this rotating cylinder model is that the rotation of supposition rotating cylinder is fixed, and rotating cylinder suspension ((suspended)) is ignored.Then, described fixed axis model forms in three steps: the first step is that hypothesis tube rotaring axis level and rotating cylinder frictional force are zero with pulling loss; The influence that second step added friction and pulled; Last the 3rd step adds the rotating cylinder inclination angle.

Fig. 7 shows commentaries on classics with a certain angular velocity omega _dPoint mass on tube 104 edges of rotation concentrates uneven 112.Although being expressed as, unbalance mass, 112 acts on the rotating cylinder radius r in Fig. 7 _dThe place, but can not always be set at this situation, because the clothing of any distribution can influence the position of unbalance mass, with respect to the rotating cylinder center.Use variable r in the calculating of describing in detail herein thus _uArrive rotating cylinder 104 radius centered length with expression unbalance mass, 112.

Measure rotating cylinder position θ in reference point on the rotating cylinder 104 120 and the counter clockwise direction that at random is selected between the fixed datum 122 of three direction _dPoint type concentrate uneven 122 in the clockwise direction with respect to the position of rotating cylinder reference point 120 by φ _uIllustrate.Therefore, concentrated uneven 112 positions with respect to fixed reference 122 of point type are (θ _d-φ _u).Accompanying drawing 7 also show on the unbalance mass, 112 by gravity m _uThe power that g produces.

Suppose not rub and pull and lose when affacting rotating cylinder 104, at the rotating cylinder moment of torsion τ of the direction of motion _dDraw by following formula:

τ _d＝m _u·g·r _u?cos(θ _d-φ _u)+J _d·p(ω _d) (1)

J wherein ₄The synthetic inertia and the p that are rotating cylinder and unbalance mass, are differential operator d/dt.

If speed omega as can be seen from equation 1 _dConstant, i.e. uniform circular motion, rotating cylinder moment of torsion τ d are with circulation change, and its mean value is zero.Therefore, for the fixed speed situation, equation 1 is reduced to:

τ _d＝m _u·g·r _u?cos(θ _d-φ _u)

In the reality, rotor speed ω _dIn have some and change, it depends on the response to system speed controller 210 that processor 112 is carried out.If the response of speed control 210 is very slow, moment of torsion τ _dTo be constant be zero.Therefore, for the situation of fixing (with zero) moment of torsion, equation 1 is reduced to:

-m _u·g·r _u?cos(θ _d-φ _u)＝J _d·p(ω _d)

Fig. 8 illustrates rotor speed ω _dOver time, and unbalance mass, 112 with respect to vertical (y axle) position 130 at rotating cylinder 104 centers.The parameter that is used to obtain these curves is as follows: unbalance mass, m _u=0.5kg; r _u=0.3m; ω _d(intrial)=20rad/s; J _d=0.01kgm ²These parameters do not have unbalanced actual rotating cylinder and must show.On the contrary, they are selected just to the purpose of explaining.Can understand that unbalance mass, 112 rapid movements pass its minimum point, and when it passes its peak microinching.

Along with rotating cylinder average speed ω _dImprove, the amount of velocity perturbation descends, and can understand by the research energy system:

$m_u\·g\·2\·r_u=\frac{1}{2}\·J_d\·({\mathrm{\ω}}_{d\left(\max \right)}^2-{\mathrm{\ω}}_{d\left(\min \right)}^2)$

Wherein the left side of equation be unbalance mass, 112 from rotating cylinder 104 bottoms to the motion process at top because the potential energy that gravity obtains.The right side is that unbalance mass, 112 is from ω _{D (min)}To ω _{D (max)}Accelerator in the increment of kinetic energy, wherein ω _{D (min)}Be the angular speed of unbalance mass, 112 rotating cylinder 104 when rotating cylinder 104 tops, and ω _{D (max)}Be the angular speed of unbalance mass, 112 rotating cylinder 104 when rotating cylinder 104 bottoms.

In the reality, moment of torsion and speed all can change, and therefore, viewed system action will be in above-mentioned two kinds of somewheres between extreme.The undulate quantity of moment of torsion and speed will depend on the response of speed control loop 200, itself so that depend on the ratio and the storage gain of speed control 210 usually.Therefore, two kinds of situations being studied are not suitable for forming system model, and therefore the general equation that is provided by equation 1 uses herein before.Yet it is very important studying two kinds of extreme cases, is subjected to the influence of speed loop response with understanding speed and torque ripple but not influenced by unbalance mass, 112.

In the reality, need a certain amount of moment of torsion to turn round so that overcome the power that pulls generation by rotating cylinder friction and rotation in given speed to keep rotating cylinder.Two types friction will be studied: static friction and viscous friction.Static friction is constant thereby is independent of speed, although its polarity depends on the direction of rotation of rotating cylinder.On the other hand, viscous friction becomes positive example with rotating cylinder angular speed.The two considers that all because bearing, lubricating oil and rotation pull the resistance of motion that causes, wherein rotation pulls and is considered as viscous friction these frictional force.

Static friction τ _cSignum (ω _d) expression, wherein signum (ω _d) refer to the identical of its polarity and rotating cylinder angular speed, and viscous friction B _dω _dExpression, wherein B _dIt is the rotating cylinder viscous friction coefficient.Comprising these frictional force ground EXPANSION EQUATION FOR STEEL 1 provides:

τ _d＝m _u·g·r _u·cos(θ _d-φ _u)+J _d·P(ω _d)+B _d·ω _d+τ _csignum(ω _d) (2)

In " level " axis washing machine of some form, or not level in rotating cylinder 104 reality, however opposite, be to tilt with certain angle with respect to horizontal direction.Fig. 9 illustrates the side view at the rotating cylinder 104 that tilts with angle [alpha] with respect to horizontal direction.The gravity that acts on the unbalance mass, 112 is m _uG.Yet, because rotating cylinder 104 tilts with respect to horizontal direction with angle [alpha], provide by following formula perpendicular to the power of axle 140:

Power=m _uGcos (α)

Again draw rotating cylinder shown in Fig. 7 104 among Figure 10 to add the influence of drum inclination as shown in Figure 9.

Equation 2 can followingly be modified to the inclination that adds rotating cylinder now:

τ _d＝m _u·g·r _u·cos(α)·cos(θ _d-φ _u)+J _d·p(ω _d)+B _d·ω _d+τ _csignum(ω _d) (3)

Notice that if α=90 °, the gravity on the unbalance mass, 112 is along the axis effect of axle 140 and thus to the not influence of moment of torsion of axle.

Return with reference to Fig. 1 106 exercisable connections with rotating cylinder 104 of motor so that drive rotating cylinder by transmission system 105.In order to quote the system variable between motor and the rotating cylinder, for example moment of torsion and speed are necessary to make up the model of transmission system 105.Figure 11 has conceptually illustrated typical driving belt and pulley transmission system 300 parts that are used to drive the washing machine rotating cylinder.Described transmission system 300 comprises the rotating cylinder pulley 310 that connects motor pulley 312 by driving belt 314.

In the formation of imbalance detection system, washing machine transmission system 300 comprises following hypothesis:

1. the top of driving belt 314 and bottom or tensioning or lax fully fully.

2. driving belt 314 does not slide fully.

3. driving belt 314 does not have flexibility, and promptly driving belt 314 does not stretch.

4. not idle running.

According to Figure 11, the electricity of motor-moving equation is as follows:

τ _m＝J _m·p(ω _m)+B _m·ω _m+(T _mu-T _ml)·r _mp (4)

J wherein _mBe the inertia of motor pulley 312, B _mBe the motor viscous friction coefficient, T _MuAnd T _MlBe respectively the tension force of upper and lower driving belt at motor pulley 312 places, r _MpBe the radius of motor pulley 312, and ω _mBe motor shaft speed.Be applied to the moment of torsion of rotating cylinder pulley 310, τ _dDraw by following formula:

τ _d?＝(T _du-T _dl)·r _dp (5)

T wherein _DuAnd T _DlBe respectively the tension force of upper and lower driving belt at rotating cylinder pulley 310 places, and r _DpIt is the radius of rotating cylinder pulley 310.Described in top hypothesis 2, suppose top and the bottom or the tensioning or lax fully fully of driving belt 314.This derives following every:

T _ml＝T _dl＝0 (6)

T _mu＝T _du (7)

Therefore, consolidated equation 4 and 5 draws:

${\mathrm{\τ}}_d=\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}({\mathrm{\τ}}_m-J_m\·p\left({\mathrm{\ω}}_m\right)+B_m\·{\mathrm{\ω}}_m)---\left(8\right)$

Suppose a desirable transmission system, rotor speed and motor speed have following relation:

${\mathrm{\ω}}_m=\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\·{\mathrm{\ω}}_d---\left(9\right)$

Therefore equation 8 can followingly be expressed as with rotor speed:

${\mathrm{\τ}}_d=\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\·{\mathrm{\τ}}_m-{\left(\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\right)}^2\·(J_m\·p\left({\mathrm{\ω}}_d\right)+B_m\·{\mathrm{\ω}}_d)---\left(10\right)$

From fixed axis model, τ as can be seen _dComprise a J _dP (ω _d) and B _dω _d, they are similar with the viscous item to those inertia in equation 10.The inertia and the viscous item of synthetic rotating cylinder and motor draw:

$(J_d+{\left(\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\right)}^2\·J_m)\·p\left({\mathrm{\ω}}_d\right)$

And

$(B_d+{\left(\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\right)}^2\·B_m)\·{\mathrm{\ω}}_d$

Now, if $J_d>>{\left(\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\right)}^2\·J_m$ And $B_d>>{\left(\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\right)}^2\·B_m,$ Equation 10 is reduced to simply: ${\mathrm{\τ}}_d=\frac{r_{\mathrm{dp}}}{r_{\mathrm{mp}}}\·{\mathrm{\τ}}_m---\left(11\right)$

The fixed axis model that is provided by equation 3 relates to rotating cylinder 3, and promptly moment of torsion and speed all are the data of rotating cylinder.Yet more likely the moment of torsion of component model input quantity and speed variable will be the data of motor, therefore, will need equation 9 and 11 to be used for rotating cylinder with speed and moment of torsion with motor.

In order to make the fixed axis model effective, rotating cylinder is obviously moving on its suspension not.Therefore, when using this model, must be higher than recline speed but be lower than and carry out imbalance when suspension had the speed of obvious impact and detect of minimum at rotating cylinder.Therefore, in the utility model embodiment, when carrying out uneven the detection, rotating cylinder is with predetermined speed running a period of time of for example 100rpm.Even the order rotating cylinder is with predetermined operate at constant speed, because viscous friction item B _d, have some velocity perturbations and cause the small torque fluctuation.Yet if set that this torque ripple composition is ignored and speed substantially constant in addition, the fixed axis model simplification that is provided by equation 3 is:

τ _d=m _uGr _uCos (α) cos (θ _d-φ _u)+J _dP (ω _d)+τ _{On average}(12)

In order to estimate the one group of unique parameter that is used for fixing the axis system, input signal must have sufficient activity.If all moulds of input signal activation system, this requirement can be met, and such signal is called as " the lasting activation ".For the system of studying herein, input signal is actually rotor speed ω _d, because other variable, i.e. θ _dAnd p (ω _d) itself is by the rotor speed decision, vice versa.

In imbalance detected, the order rotating cylinder was with operate at constant speed.If actual during this period rotor speed is very constant, just do not have rotating cylinder angular acceleration, i.e. p (ω _d)=0.Under this operator scheme, inertia is to the not influence of rotating cylinder moment of torsion, so the parameter estimation device can not obtain the estimated value of rotating cylinder inertia, J _dYet actual medium velocity controller 210 can not be adjusted to rotor speed a very constant value, and has near the velocity variations of some rotating cylinders command speed 202.

Testing result shows, under the intrinsic speed of fixed axis system, velocity perturbation near sinusoidal under corresponding to the frequency of rotor speed changes.When velocity perturbation by a small margin, uneven moment of torsion will be the sine curve that is similar to, because cos is (ω _dT-φ _u) ≈ cos (ω _dT-φ _u) ω wherein _dBe average speed.This causes a problem, because equal average rotor speed when the frequency of velocity perturbation, the inertia moment of torsion will be the sine curve with uneven moment of torsion same frequency.In these cases, J _d, m _uAnd φ _uThe repeatedly synthetic mistake that will cause little estimation device, like this, the estimation device will be difficult to that (under bigger velocity perturbation value, there are not this problem in unique definite inertia and uneven moment of torsion composition, because cos (ω from whole rotating cylinder moments of torsion _dT-φ _u) ≠ cos (ω _dT-φ _u), so uneven moment of torsion comprises harmonic components, and the inertia moment of torsion remains sine curve.The parameter estimation device then can easier differentiation moment of torsion inertia and uneven composition).

If rotating cylinder inertia is known before the imbalance detection is carried out, can be by inertia compensation rotating cylinder moment of torsion be eliminated the problems referred to above.Suppose that rotating cylinder inertia is known before the imbalance detection is carried out.In this case, the fixed axis model of constant speed can be write as:

τ _{D_comp}=m _uGr _uCos (α) cos (θ _d-φ _u)+τ _{On average}

τ wherein _{D_comp}=τ _d-J _dP (ω _d)

Therefore, if rotating cylinder inertia is known, the inertia torque ripple can deduct from whole fluctuations, so that the input quantity of estimation device only is to cause the torque ripple momentum by the gravity that acts on the unbalance mass,, adds mean value.Launch τ _{D_comp}Obtain:

τ _{D_comp}=m _uG r _uCos (α) cos (φ _u) cos (θ _d)+m _uG r _uCos (α) sin (φ _u) sin (θ _d)+τ _{On average}

Above-mentioned equation can be write as following form, and it is fit to for example parameter estimation device of RLS estimation device:

y＝x ^Tθ

Wherein:

y＝τ _{d_comp}

x ^T＝[1?cosθ _d?sinθ _d]

$\mathrm{\θ}=\left[\begin{array}{c}{\mathrm{\τ}}_{\mathrm{mean}}\\ m_u\·g\·r_u\·\cos \mathrm{\α}\·\cos \mathrm{\φ}\\ m_u\·g\·r_u\·\cos \mathrm{\α}\·\sin \mathrm{\φ}\end{array}\right]=\left[\begin{array}{c}{P}_1\\ P_2\\ P_3\end{array}\right]$

And P _1-3Be by parameter estimation device PE estimated parameters, or coefficient.

Can from parameter matrix θ, find out, need be to P ₂And P ₃Further handle to obtain the highest torque ripple and torque ripple phase place and lag behind.This following carrying out:

${\mathrm{\φ}}_u={\tan }^{-1}\left(\frac{P_3}{P_2}\right)$

If from the rotating cylinder position but not the speed calculation acceleration be necessary filtering is carried out in the rotating cylinder position.Its reason is that acceleration passes through the secondary differentiate of rotating cylinder position is obtained.A spot of interference may cause having the acceleration information of a lot of noises on the rotating cylinder position signalling, and it may influence the accuracy of estimated parameter in turn.Yet (, if speed is known, problem is not so serious, only needs a differentiate because calculate acceleration; The rotating cylinder position is determined by rate integrating in this case.)

As zig-zag, the rotating cylinder position signalling comprises the radio-frequency component that does not have noise.Therefore, low pass filter is directly used in the rotating cylinder position signalling and will makes its serious distortion.For avoiding these problems, filter out the sine and the cosine part of signal, it is as follows then to rebuild filtered rotating cylinder position:

${\mathrm{\θ}}_{d\_\mathrm{filtered}}={\tan }^{-1}\left(\frac{{\left(\sin {\mathrm{\θ}}_d\right)}_{\mathrm{filtered}}}{{\left(\cos {\mathrm{\θ}}_d\right)}_{\mathrm{filtered}}}\right)$

In the above-described embodiments, before measuring, imbalance calculates rotating cylinder inertia.A kind of method of calculating inertia is to make rotor speed rise to another speed from predetermined speed, for example from 100rpm to 200rpm, and result data is sent into J _dBut in the parameter estimation device as deal with data.Moment of torsion and velocity contour look as shown in figure 12 thus, and its supposition speed is linear to rise (although linear the rising is not necessary).Notice that for clear, Figure 12 does not illustrate the undulate quantity of moment of torsion and speed.

From ω _D1To ω _D2Acceleration in, possible suspension can begin to influence average torque and torque ripple momentum.Yet the influence of these suspensions is not counted by the fixed axis model that equation 2 provides.Only when calculating inertia, the torque ripple momentum change that is caused by the suspension influence is not very important.Yet when speed rose, the variation of average torque will influence inertia calculated, but change in torque can be used as an additional viscous friction item B _sModeling is if be set in ω _D1To ω _D2Between the change of average torque be the quite linear function of speed.And, this additional viscous item can with actual viscous friction item and together.

Suppose average torque and ω _D1To ω _D2Between the speed linear change, curve map shown in Figure 12 can make up with following equation:

τ _d＝J _d·p(ω _d)+B _Jω _d+τ _J (13)

B wherein _J=B _s+ B _dAnd τ _J≠ τ _c

Than estimation inertia, torque ripple is not so important, if at least when using as the VELOCITY DISTRIBUTION among Figure 12---and sinusoidal torque ripple composition is counted model will obtain better result from the parameter estimation device.Its reason is that the parameter estimation device may be determined as torque ripple at first is sinusoidal variations in average torque.The torque ripple composition will be the form identical with the fixed axis model.Therefore the inertia model that torque ripple is counted becomes:

τ _d＝J _d·p(ω _d)+B _Jω _d+τ _J+A·cos?θ _d+B·sin?θ _d (14)

Wherein A and B are constants.Equation 14 is rearranged as y=x ^TThe form of θ is used for parameter estimation, result's acquisition:

y＝τ _d

x ^T＝[p(ω _d)ω _d?1?cosθ _d?sinθ _d]

$\mathrm{\&theta;}=\left[\begin{array}{c}{J}_d\\ B_J\\ {\mathrm{\&tau;}}_J\\ A\\ B\end{array}\right]=\left[\begin{array}{c}{P}_1\\ P_2\\ P_3\\ P_4\\ {\mathrm{<figure-callout\; id="5"\; label="P"\; filenames="Y20042005116000251.png"\; state="\{\{state\}\}">P</figure-callout>}}_5\end{array}\right]$

P _1-5Be by parameter estimation device estimated parameters.Therefore if rotating cylinder is significantly mobile on its suspension, torque ripple will change, and coefficient A and B also will be so.Resulting estimate device parameter P ₄And P ₅Also will attempt to follow the variation of A and B and change.Above-mentioned can being accepted is because only there is inertia parameter P in this specific embodiment ₁Be essential, and when using as the rate curve among Figure 11, this can not be subjected to having a strong impact on of torque ripple gradual change.Therefore inertia can directly obtain to be parameter P ₁

In another exemplary embodiment of the present utility model, adopt a kind of optional inertia computational methods, it needs rotating cylinder to accelerate to higher second speed from the first predetermined speed linearity, but does not need operation parameter estimation device.As mentioned above, near reclining speed, minimum has suspension motion seldom and it is contemplated that the model of fixed axis.Yet when the rotating cylinder acceleration reclined speed above minimum, it is obvious that the influence of suspension will become.

If remove the fluctuation composition of torque waveform, resulting track seems shown in the similar image pattern 13.Significant quantity among Figure 13 is that the step of moment of torsion when quickening beginning rises (perhaps torque step reduces when quickening to finish) τ _{D_ quickens}In case determine τ _{D_ quickens}, rotating cylinder inertia then, J _dCan followingly calculate:

$J_d=\frac{{\mathrm{\&tau;}}_{d\_\mathrm{accl}}}{p\left({\mathrm{\&omega;}}_d\right)}$

Calculate τ subsequently _{D_ quickens}Moment of torsion track among Figure 13 is divided into three zones of different: A, B and C.By a, b and c illustrate at each regional average torque, their following calculating:

$a=\frac{1}{T_A}\underset{t_0}{\overset{t_1}{\&Integral;}}{\mathrm{\&tau;}}_d\mathrm{dt}$

$b=\frac{1}{T_B}\underset{t_1}{\overset{t_2}{\&Integral;}}{\mathrm{\&tau;}}_d\mathrm{dt}$

$c=\frac{1}{T_C}\underset{t_2}{\overset{t_3}{\&Integral;}}{\mathrm{\&tau;}}_d\mathrm{dt}$

Providing the acceleration moment of torsion then is:

${\mathrm{\&tau;}}_{d\_\mathrm{accl}}=b-\frac{(c+a)}{2}$

When having the twisting fluctuation, if each zone comprises an integer period of waves, said method is still applicable.Therefore, period T _A, T _BAnd T _CMust carefully select to guarantee this situation.Yet in each zone, exist the quantity of period of waves many more, more not strict for the requirement of an integer circulation.

Figure 13 shows the moment of torsion track of removing the fluctuation composition.When having the twisting fluctuation, if each zone comprises an integer period of waves, said method is still applicable.Therefore, period T _A, T _BAnd T _CMust carefully select to guarantee this situation.Yet in each zone, exist the quantity of period of waves many more, more not strict for the requirement of an integer circulation.

The processor implementation of an exemplary embodiment below is described in detail in detail.Discrete whole process draws the equation of following a, b and c:

$a=\frac{T_s}{T_A}\&CenterDot;\underset{n=1}{\overset{(t_1-t_0)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)}$

$b=\frac{T_s}{T_B}\&CenterDot;\underset{n=1}{\overset{(t_2-t_1)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)}$

$c=\frac{T_s}{T_C}\&CenterDot;\underset{}{\overset{n=1}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)}$

Provide described acceleration moment of torsion by following formula:

${\mathrm{\&tau;}}_{d\_\mathrm{accl}}=T_s\&CenterDot;(\frac{1}{T_B}\&CenterDot;\underset{n=1}{\overset{(t_2-t_1)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)}-\frac{1}{2\&CenterDot;T_A}\&CenterDot;\underset{n=1}{\overset{(t_1-t_0)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)}-\frac{1}{2\&CenterDot;T_C}\&CenterDot;\underset{n=1}{\overset{(t_3-t_2)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)})$

Draw inertia (kg.m by following formula then ²):

$J_d=\frac{T_s\&CenterDot;(\frac{1}{T_B}\&CenterDot;\underset{n=1}{\overset{(t_2-t_1)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)}-\frac{1}{2\&CenterDot;T_A}\&CenterDot;\underset{n=1}{\overset{(t_1-t_0)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)}-\frac{1}{2\&CenterDot;T_C}\&CenterDot;\underset{n=1}{\overset{(t_3-t_2)/T_s}{\mathrm{\&Sigma;}}}{\mathrm{\&tau;}}_{d\left(n\right)})}{p\left({\mathrm{\&omega;}}_d\right)}$

In some applications, can under the situation that does not significantly excite suspension, make rotating cylinder from ω _D1Accelerate to suitable more speed ω _D2If---ω especially _D1Be set to the minimum speed that reclines.If in this situation, an alternative embodiment of the invention is possible so, and inertia and unbalance mass, can calculate simultaneously by this, saves independent calculating inertia described in above-mentioned embodiment and necessity of quality thus.There is no need to carry out the inertia compensation equally.In this embodiment, can set the broad sense fixed axis model that provides by equation 3.Cos item in the EXPANSION EQUATION FOR STEEL 3 obtains:

τ _d＝m _u·?g·r _u·cos(α)·cos(φ _u)·cos(θ _d)+m _u·?g?r _u·cos(α)·sin(φ _u)sin(θ _d)+J _d·p(ω _d)+B _d·ω _d+τ _csignum(ω _d) (15)

Can notice that equation 15 has the identical form of inertia model that provides with equation 14, wherein A=m _uG r _uCos (α) cos (φ _u) and B=m _uG r _uCos (α) sin (φ _u).In fact, the program of using when operation parameter estimation device calculates inertia in the program that this embodiment uses and the previous embodiment is identical, except calculating inertia, because tube rotaring axis is maintained fixed substantially, can draw unbalance mass, from parameter A and B.Calculate m from above-mentioned A and B _uMethod be and the described same procedure of latter half of embodiment in front.

As mentioned above, the highest inertia torque ripple of given velocity perturbation will be by J _dDecision, and supposition r _uCan be calculated in advance, the gravity torque fluctuation will be by m _uDecision.Figure 14 conceptually shows the washing machine rotating cylinder 104 and the unbalance mass, 112 of accommodating laundry 110.Calculating uneven radius r _uThe time, suppose that clothing 110 distributes as Figure 14, have uneven 112 and act on the inboard that equally distributed clothing 110 forms.

The inertia of clothing 110 can pass through from J _dDeducting idle running tube inertia calculates:

J _l=J _d-J _{The idle running tube}

Clothing inertia will be similar to and equal:

$J_l=\frac{m_1}{2}(r_d^2+r_u^2)$

M wherein ₁It is the clothing quality.

The volume of clothing is approximately equal to:

$V_l=1\mathrm{\&pi;}(r_d^2-r_u^2)$

Wherein " 1 " is the length of rotating cylinder.Be present numerical value of Density hypothesis, D ₁, the quality of clothing can be write:

m _l＝D _lV _l

Draw r by following formula thus _u:

$r_u=\sqrt[4]{{r_d}^4-\frac{{2J}_l}{D_{l}1\mathrm{\&pi;}}}$

(will be appreciated that D ₁The type that depends on washing clothes, for example synthetic, wool, etc., each will have its density separately.)

In another embodiment of the present utility model, the problem with " insufficient exciting " system is solved, and it is by introducing " dither " signal all moulds with activating system.In this paper research system, comprise to speed command signal 202 adding a signal so that actual rotor speed fluctuates near mean value in the mode of determining.

A requirement of high-frequency vibration signal be it quite little amplitude should be arranged in case rotor speed not depart from its mean value too many.Another requirement of this signal is that it should not cause any system resonance that may cause high vibration.

As mentioned above, why the proper velocity unaccommodated reason that fluctuates is because its frequency equals the frequency of average rotor speed.For the low value of velocity perturbation, this means uneven moment of torsion and inertia moment of torsion all at the sine curve that is approximately of same frequency, and can have any problem when the parameter estimation device is distinguished between two moment of torsion compositions thus.Yet if the rotating cylinder fluctuation comprises the frequency content of the frequency different with average rotor speed, the imbalance of moment of torsion also will be different on frequency with the inertia composition, and more easily be distinguished by the parameter estimation device thus.

Using this high-frequency vibration signal activating system to be better than benefit of previous embodiment is to calculate unbalance mass, and inertia simultaneously under a substantially invariable rotor speed.Therefore, between uneven detection period, average rotor speed can be fixed on the fixed axis model of a speed to allow to use equation 3 to provide, if the torque ripple of perhaps supposing to be caused by viscous friction can use equation 12 for ignoring.The special shape that does not need dither, but in some implementation, use the sinusoidal high-frequency signal of 1Hz of amplitude that gratifying result is arranged with about 0.2rad/s.

Above-mentioned disclosed specific embodiment only is indicative, because the utility model can be changed and use in mode different but of equal value, these modes are conspicuous for obtaining the described those skilled in the art that content herein helps.And, do not mean and exceed, but in following claim, describe scope with the details of structure shown here and design.Therefore, clearly, the specific embodiment that discloses above can be replaced or be changed, and all these variations all are considered within scope and spirit of the present utility model.Therefore, claimed scope is determined by following claim.

Claims (3)

1. a system that detects the washing machine laod unbalance is characterized in that, comprising:

Casing;

Be rotatably mounted in the rotating cylinder in the described casing;

The motor that operationally is used for the rotating box rotating cylinder with described rotating cylinder coupling;

The processor that connects described motor; And

Storage arrangement, it can be visited and store the program code of carrying out a kind of method by processor, and described method comprises, determines the torque ripple of motor, determines motor speed, and determines the laod unbalance quality according to Motor torque and speed.

2. the system of detection washing machine laod unbalance according to claim 1 is characterized in that, also comprises the device of measuring the rotating cylinder rotary speed.

3. a system that detects the washing machine laod unbalance is characterized in that, comprising:

Casing;

The rotatable rotating cylinder that is installed in the described casing;

Operationally be connected the electric machine without sensor that is used for the rotating box rotating cylinder with described rotating cylinder;

The processor that connects described motor, described processor receives the indication of current of electric and voltage; And

Storage arrangement, it can be by processor access and program code stored, and described program code is carried out and is determined the laod unbalance method for quality based on current of electric and voltage signal.

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